Method and system for transferring an end effector of a robot between one end effector pose and a further end effector pose

Abstract

A method for transferring an end effector of a robot between an end effector pose and a further end effector pose, for at least one axis of the robot includes specifying the same uniform progression of the position of the axis, particularly in advance, for the transfer between the one end effector pose and the one further end effector pose, and for transfers between the one end effector pose and a group of other further end effector poses, more particularly in dependence on activation of a control operating mode. For at least one further axis of the robot, different progressions of the position of the further axis are commanded, more particularly during the transferring, for the transfer between the one end effector pose and the one further end effector pose and the transfer between the one end effector pose and the at least one of the further end effector poses.

What is claimed is: 
     
       1. A method for transferring an end effector of a robot between a first end effector pose and a second end effector pose, the method comprising:
 for at least one first axis of the robot, specifying the same, uniform progression of a position of the at least one first axis for the transfer between the first end effector pose and one second end effector pose, and for transfers between the first end effector pose and a group of other second end effector poses; 
 for at least one second axis of the robot, commanding different progressions of a position of the at least one second axis for the transfer between the first end effector pose and the one second end effector pose, and for the transfer between the first end effector pose and at least one of the other second end effector poses; and 
 ascertaining a permissible range for the uniform progression of the position of the at least one first axis; 
 wherein the uniform progression is specified within the permissible range; 
 wherein the permissible range is ascertained based on extreme positions for the second end effector pose, comprising a specified area of second end effector poses, wherein the specified area of second end effector poses is defined by a convex polygon envelope. 
 
     
     
       2. The method of  claim 1 , wherein at least one of:
 the uniform progression of the position of the first axis is specified in advance of the transfer; 
 different progressions of the position of the at least one second axis are commanded during the transfer; or 
 specifying the uniform progression of the position of the at least one first axis or commanding progressions of the position of the at least one second axis is performed as a function of an activation of a control operating mode of the robot. 
 
     
     
       3. The method of  claim 1 , further comprising:
 commanding positions of the at least one first axis and/or the at least one second axis on the basis of the uniform progression. 
 
     
     
       4. The method of  claim 1 , further comprising commanding positions of the at least one first axis on the basis of specified end effector poses. 
     
     
       5. The method of  claim 1 , wherein positions of the at least one second axis are commanded on the basis of at least one of:
 specified positions of the at least one first axis; or 
 specified end effector poses. 
 
     
     
       6. The method of  claim 1 , characterized in that the at least one first axis is specified on the basis of a user selection. 
     
     
       7. The method of  claim 1 , wherein the permissible range is ascertained on the basis of a specified restriction. 
     
     
       8. The method of  claim 1 , further comprising parameterizing the uniform progression based on a running parameter. 
     
     
       9. The method of  claim 8 , wherein at least one of:
 parameterizing the uniform progression comprises discretizing the uniform progression; or 
 the running parameter is an end effector coordinate or a path section length. 
 
     
     
       10. A system for transferring an end effector of a robot between a first end effector pose and a second end effector pose, the system comprising:
 means for specifying, for at least one first axis of the robot, the same, uniform progression of the position of the at least one first axis for the transfer between the first end effector pose and one second end effector pose, and for transfers between the first end effector pose and a group of other second end effector poses; 
 means for commanding, for at least one second axis of the robot, different progressions of the position of the at least one second axis for the transfer between the first end effector pose and the one second end effector pose, and for the transfer between the first end effector pose and at least one of the other second end effector poses; and 
 means for ascertaining a permissible range for the uniform progression of the position of the at least one first axis; 
 wherein the uniform progression is specified within the permissible range; 
 wherein the permissible range is ascertained based on extreme positions for the second end effector pose, a specified area of second end effector poses, wherein the specified area of second end effector poses is defined by a convex polygon envelope. 
 
     
     
       11. The system of  claim 10 , wherein at least one of:
 the uniform progression of the position of the FIRST axis is specified in advance of the transfer; 
 different progressions of the position of the at least one second axis are commanded during the transfer; or 
 specifying the uniform progression of the position of the at least one FIRST axis or commanding progressions of the position of the at least one second axis is performed as a function of an activation of a control operating mode of the robot. 
 
     
     
       12. A computer program product for transferring an end effector of a robot between a first end effector pose and a second end effector pose the computer program product including machine-readable program code stored on a non-transitory storage medium, the program code, when executed by a computer, causing the computer to:
 for at least one first axis of the robot, specify the same, uniform progression of the position of the at least one first axis for the transfer between the first end effector pose and one second end effector pose, and for transfers between the first end effector pose and a group of other second end effector poses; 
 for at least one second axis of the robot, command different progressions of the position of the at least one second axis for the transfer between the first end effector pose and the one second end effector pose, and for the transfer between the first end effector pose and at least one of the other second end effector poses; and 
 ascertain a permissible range for the uniform progression of the position of the at least one first axis; 
 wherein the uniform progression is specified within the permissible range; 
 wherein the permissible range is ascertained based on extreme positions for the second end effector pose, a specified area of second end effector poses, wherein the specified area of second end effector poses is defined by a convex polygon envelope. 
 
     
     
       13. The method of  claim 1 , wherein the uniform progression is further specified on the basis of a specified quality criterion.